scott russell mechanism application

Freemantle straight-line linkage from British Patent 2741, November 17, 1803. The present invention is made in view of the above situations, and aims to provide a Scott Russell mechanism device that allows a main arm member and a sub arm member to pivot at a base end part of both of the arm members to reduce a drive torque for turning both of the arm members, and to increase the degree of freedom in postures of various kinds of units attached to a tip end of the main arm member compared to the conventional degree. Moreover, with the industrial robot according to Patent Document 1, both of the arm members are rotated (turned) about the screw shaft 21 as a rotation center (turning center), then all of the industrial robot including the screw shaft 21 is turned, and thus a problem arises that a drive torque for the turning increases. wherein a base end part of the main arm member and a base end part of the sub arm member that is on the opposite side from the coupling side of the sub arm member are positioned on the same virtual straight line, and a first distance from the base end part of the main arm member to a coupling position of the main arm member to the sub arm member, a second distance from the coupling position of the main arm member to a tip end part thereof, and a third distance from the base end part of the sub arm member to the coupling position are equal to each other. The present invention can be switched, as for the joint unit attached to the tip end of the main arm, to the total of two ways of pivoting including the pivot cooperating with the angle change of the arm members at the coupling position and the pivot independent from the angle change, and thus the Scott Russell mechanism device can suitably be used for various applications. The proposed stage showed the first natural frequency of 57 Hz and the maximum stroke of 122.84 m, 108.46 m, 0.685 mrad in the x-, y-, and -direction, respectively. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the displacement of the tip end part of the main arm member. Therefore, as for the application of the Scott Russell mechanism device according to the present invention, the posture of the joint unit can be changed in the total of two kinds of manners. wherein either one of the base end part of the sub arm member or the base end part of the main arm member is pivotably coupled to the second linearly-moving unit about the virtual straight line as the pivoting axis thereof. The present invention is made in view of the above situations, and aims to provide a Scott Russell mechanism device that is capable of drawing close to a tip end part of a main arm member proximally to a sub arm member by forming the main arm member into a boomerang-like shape without arranging both of the arm members offset from each other. In the present invention, the gripping unit is attached to the rotor of the rotation unit. Copyright 2022 Bright Hub PM. This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott-Russell mechanisms. CORROSION 2003 (1) CORROSION 2004 (1) International Petroleum Technology Conference (1) Offshore Technology Conference Asia (1) Publisher. Moreover, in the Scott Russell mechanism device according to the present invention, a joint unit may be pivotably coupled to the tip end part of the main arm member. Echinacea, also known as Coneflower, is legendary for a reason: science has shown multiple species of Echinacea can provide potentially broad-reaching support for the innate and adaptive immune system. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, Free format text: Thus, the tip end part of the main arm member can be drawn more to the base end part of the sub arm member. The device may include a pivot driving unit provided at any portion from the coupling position toward the tip end side of the main arm member and for pivoting the joint unit. Further, in the Scott Russell mechanism device according to the present invention, a gripping unit may be attached to the rotor of the rotation unit. Ce bouton affiche le type de recherche actuellement slectionn. The construction of this mechanism is such that the point which is connected to the crank moves in a circular path and the point traversing the straight line is selected as the output point. cartesian coordinate type, Programme-controlled manipulators characterised by movement of the arms, e.g. [0016]. Picking mechanism with metamorphic function, Bending apparatus for material testing and micro-ct imaging, mechanical arm with synchronous belt transmission device, Suitable for the lifting mechanism of disk-like accessory, STRIP CUTTING SYSTEM BY HELICOIDAL KNIVES AND CORRESPONDING CUTTING PROCESS, Improvements in or relating to overhead electric traction systems, Robot arm for use with injection moulding machine, Joint structure of arm, etc. Peaucellier linkage can convert an input circular motion to the exact straight line motion. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. Table drive device and work system equipped with table drive device, Driving equipment and the Workpiece clamping unit equipped with the driving equipment. Includes bibliographical references and index. for multi-joint type robot, Gravitation balancing device, articulated robot, and wrist device for robot, IMPROVEMENTS ON PLANE MANIPULATORS WITH FROZEN OR PROGRAMMABLE TRAVEL AT VERY HIGH RATES, Mechanical arm with a 2 freedom-degree wrist attitude regulation mechanism, Exhaust gas purification catalyst and method for producing the same, Motor driven articulated arm with cable capstan including a brake, Robot arm, robot, and robot operation method. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a griping function suitable for such a gripping application can be provided. Conventionally, various kinds of devices using a Scott Russell mechanism exist. Relative motion angles other than 90 degrees are possible by simply rotating the fixed guide. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a gripping function suitable for such a gripping application can be provided. 1. With the Scott Russell mechanism device, a moving range of the tip end side of the main arm member can be enlarged. 1 (b), where the condition that the motion of the point B follows a vertical motion when the driving point A moves along horizontal direction is that the links AC=BC=OC. Machine Kinematics Questions and Answers - Application of Kutzbach Criterion to Plane Mechanisms ; advertisement. Note that, a direction of the X-axis illustrated in, About the above-described angle on the coupling position, When the coupling angle between the main arm member, In a case where the main and sub arm members, Therefore, for example, when the second motor M, Note that, in a case where the change of increasing the coupling angle is desired to be performed quickly, the rotations of the first and second motors M, Note that, the rotations of the first and second motors M, Note that, the Scott Russell mechanism device, Moreover, in a case where it is desired to point the gripping unit, Further, regarding the mechanism for pivoting the joint unit, Moreover, with the configuration as described above, it is suitable for the fourth motor M, Moreover, other than the application of gripping, for example, in a case of applying to the application of placing and moving the workpieces, a placing unit or the like is attached instead of the gripping unit, That is, the Scott Russell mechanism device, As for the Scott Russell mechanism device, Note that, also as for the Scott Russell mechanism device. An SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. Japanese Patent Office, International Search Report of PCT/JP2011/058124, Jun. In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in a total of two kinds of manners including the pivot cooperating with the angle change between both of the arm members at the coupling position and the pivot independent of the angle change. Campbell, Scott SPE Disciplines. A Unified Approach to Interpreting Model Predictions Scott M. Lundberg, Su-In Lee; Nonbacktracking Bounds on the Influence in Independent Cascade Models Emmanuel Abbe, Sanjeev Kulkarni, Eun Jee Lee; Linear Convergence of a Frank-Wolfe Type Algorithm over Trace-Norm Balls Zeyuan Allen-Zhu, Elad Hazan, Wei Hu, Yuanzhi Li In certain design requirements such as design of production machinery it is desirable to have more accurate straight line paths or sometimes it becomes inevitable to have exact straight line trajectories of mechanisms. 10. Moreover, the present invention aims to provide a Scott Russell mechanism device that allows a main arm member and a sub arm member to pivot at a base end part of both of the arm members to reduce a drive torque for turning both of the arm members, and to increase in degree of freedom in postures of various kinds of units attached to a tip end of the main arm member compared to the conventional degree. A pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit may be coupled to the rotor of the rotation unit. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. In the present invention, either one of the base end parts of both of the arm members is linearly moved by the rotation of the first ball screw, and the pivots (turnings) of both of the arm members are driven about the virtual straight line connecting the base end parts of both arm members therebetween as the pivoting axis thereof, resulting in only both of the arm members turning. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. Therefore, the gripping (chucking) flexibly responding to the orientation of a workpiece as a gripping target can be performed by the rotor of the rotation unit of which the amount of the postural displacement is increased, and the Scott Russell mechanism device according to the present invention can suitably be used for the gripping application. Animation of the Scott Russell Linkage attached to a Peaucellier-Lipkin Linkage. ARTICULATED MOTORIZED ARM WITH CABESTAN WITH CABLE COMPRISING A BRAKE. Either one of the base end part of the main arm member or the base end part of the sub arm member may be pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof. In the present invention, the main arm member is formed into the boomerang-like shape to detour to the opposite side of the side where the sub arm member is positioned. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a griping function suitable for such a gripping application can be provided. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, resulting in being able to flexibly perform the moving of the tip end part of the main arm member. The dynamic equations of a micro-positioning Scott-Russell (SR) mechanism associated with two flexible hinges and an offset are developed and it is found that offsets of flexure hinges obviously affect the amplifying factor and linearity ratio, and appear to dominate the changes of magnification factors. 11. The Scott Russell mechanism device of. 15, 2011, WIPO, 4 pages. A Scott Russell mechanism is a mechanism where a linear main arm member is pivotably coupled to a sub arm member, a distance from a base end part of the main arm member to a coupling position thereof, a distance from the coupling position of the main arm member to a tip end part thereof, and a distance from a coupling position of the sub arm member to a base end part thereof are all equal to each other, and in a case where a coupling angle between both of the arm members is changed, the tip end part of the main arm member linearly moves along a straight line connecting the tip end part of the main arm member and the based end part of the sub arm member. a second ball screw arranged in parallel to the first ball screw; and, a second linearly-moving unit for being linearly moved by a rotation of the second ball screw, and. Thus, the tip end part of the main arm member can be drawn to the sub arm member to the extent where the tip end part of the main arm member is adjacent to be right beside the base end part of the sub arm member. [1] . The Scott Russell mechanism device of, 12. The Scott-Russell (SR) amplifying mechanism [1] is designed for a cutting tool to amplify the PA displacement and carry out high precision for the motion control system. The first exact straight line generating mechanism was invented by a French army officer Charles Nicolas Peaucellier in 1864. Scott Russell's Mechanism - Special Mechanism - Kinematics of Machinery Ekeeda 914K subscribers Subscribe 44 2.1K views 7 months ago Subject - Kinematics of Machinery Video Name - Scott. The angle changer may have a first ball screw arranged in parallel to the virtual straight line, and a first linearly-moving unit for being linearly moved by a rotation of the first ball screw. A pivoting axis of the pivot of the joint unit may be in parallel to an axis of the pivots of the main arm member and the sub arm member at the coupling position. Moreover, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor. The linkage is composed of two links. LADDERS, FOOT MECHANISMS FOR LADDERS, AND RELATED METHODS Publication number: 20220381087 The mechanism to the right can be refered to as the Scott Russell Mechanism or a more descriptive name is the Scott Russell Exact Straight Line Mechanism. Application: Creates an approximate straight line . Therefore, by the rotor of the rotation unit where the amount of the postural displacement is increased compared to the conventional device, the Scott Russell mechanism device according to the present invention can be applied to the application of performing the gripping while flexibly responding to the orientation of a workpiece as a gripping target. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. SQUSE INC., JAPAN, Free format text: Patent Document 1 discloses a Scott Russell mechanism applied to a industrial robot. 3. a first ball screw arranged in parallel to the virtual straight line; and, a first linearly-moving unit for being linearly moved by a rotation of the first ball screw, and, wherein either one of the base end part of the main arm member or the base end part of the sub arm member is pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof, and. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, resulting in being able to flexibly perform the moving of the tip end part of the main arm member. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. Figure 3. This paper will discuss the mechanical design theoretical modeling and analyses, finite element analysis and experimental verification. This article about an automotive technology is a stub. Moreover, by providing a pivot driving unit to the main arm member, as well as providing a fourth motor and a drive transmission mechanism unit to the sub arm member, the Scott Russell mechanism device can switch between pivoting the joint unit associatively a change of a coupling angle of the arm members and and pivoting the joint unit by the drive of the fourth motor. This mechanism is a modification of modified Scott-Russel'smechanism with the difference that the point Pdoes not slide along a straight line, but moves in a circular arc with centre O. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. Actuator mechanism and centrifuge having actuator mechanism, Multi-Functional Fixed Robot with Horizontal Maintenance Unit, Table drive device and work system equipped with table drive device, Driving equipment and the Workpiece clamping unit equipped with the driving equipment. The Scott Russell mechanism device of, 13. Further, as for the positioning transport device according to Patent Document 2, the drive structure of the feed arm according to Patent Document 3, the industrial robot according to the Patent Document 4, and the transport device according to Patent Document 5, the main arm member and the sub arm member are overlapped on and coupled to each other in a thickness direction, and thus, the tip end part of the main arm member is easily drawn proximally to the sub arm member. Moreover, in the present invention, the pivot of the joint unit pivotably coupled to the tip end part of the main arm member is driven by the pivot driving unit. Perfect straight lines can also be generated using a linkage mechanism. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the amount of the displacement of the tip end part of the main arm member, and the postural displacement of the rotor positioned at the farthest tip end increases much more. The design criteria of the Scott-Russell mechanism are to achieve large amplification factor and minimum motion deviation. The Scott Russell mechanism device of, 15. Schematic of a Scott-Russell mechanism using flexure hinges Open in viewer The flexure-based Scott-Russell mechanism can be simplified as four bar mechanism and shown in Fig. Until recently, One such example is Scott-Russell Mechanism as shown in the figure. The Evans 'grasshopper' linkage is a variant of a Scott Russell linkage which uses a long link to create a large enough arc to approximate a line. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, and the tip end part of the main arm member can move flexibly. It is a four bar mechanism and all the pairs are turning pairs as shown in Fig. Therefore, the first ball screw will be excluded from the turning targets, compared to the turnings of both of the arm members of the industrial robot relating to the reference document 1 described above, a drive torque caused by the turn is reduced, and both of the arm members can be turned smoothly. Either one of the base end part of the main arm member or the base end part of the sub arm member may be pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof. a pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. wherein the device comprises a pivot driving unit provided at any portion from the coupling position toward the tip end side of the main arm member and for pivoting the joint unit. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. Since the postures of these units on the tip end side depend on the direction (posture) of the tip end of the main arm member, a problem arises that a range in which the postures of the units attached to the tip end of the main arm member can be changed is limited. The use of flexure joints in the Scott Russell mechanism provides a number of advantages over traditional revolute joints, making it a valuable technology for use in space where maintenance is difficult and costly. for multi-joint type robot, Gravitation balancing device, articulated robot, and wrist device for robot, Manipulator with flat or three-dimensional trajectory suitable for high operating rate, Mechanical arm with a 2 freedom-degree wrist attitude regulation mechanism, Exhaust gas purification catalyst and method for producing the same, Motor-driven device for moving workpieces, Pick and place device having two parallel axes, Scara type robot with counterbalanced arms, Manipulator, manufacturing machine and production line using the same. A rotation unit having a rotor may be coupled to the pivoting member. There are many mechanisms based on slider crank linkage which can generate exact straight lines for limited intervals. The linkage is named after John Scott Russell (1808-1882), although watchmaker William Freemantle had already patented it in 1803. One of the ends is then connected to something that can generate linear motion, such as a rolling or sliding connection, or another straight line mechanism. In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in the total of two kinds of manners including the pivot cooperating with the angle change between both of the arm members at the coupling position and the pivot independent to the angle change. Scott-Russell mechanism. Compared to previously reported grippers that utilize gecko-like adhesives, the one presented here produces higher normal adhesion and has robustness and controllability advantages. The Scott Russell mechanism device of. The linkage is named after John Scott Russell (18081882), although watchmaker William Freemantle had already patented it in 1803. The Scott-Russell mechanismThe structural application of flexure hinges in the SR amplifying mechanism is especially important to practically play an important role in the positioning stage and precision cutting. However, a bridge-type mechanism with an external load always works in an energy-inefcient situation due to the storage of strain energy in the exural hinges, which can be validated by the analytical model established in this paper. In the present invention, the pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. Jasen Russell tendre la recherche. A straight-line mechanism causes a point to travel in a straight line, or in a nearly straight line, without being guided by a plane surface. A systematic, if not rigorous, approach to the design of gears and cams also is usually presented in such a course. Furthermore, in the Scott Russell mechanism device according to the present invention, the angle changer may also have a second ball screw arranged in parallel to the first ball screw, and a second linearly-moving unit for being linearly moved by a rotation of the second ball screw. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. You can help Wikipedia by expanding it. The bridge-type mechanism is one of the most widely used displacement ampliers in micro- scale applications. The distance from the pivot driving unit to the joint unit becomes closer, and the transmission mechanism regarding the drive can be coordinated compactly. Further, when both of the base end parts of both of the arm members are moved in the same direction by the same amount, both of the arm members can be moved entirely while keeping their postures. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. Moreover, in the present invention, the base end part of either one of the sub arm member or the main arm member is linearly movable by the second ball screw. Theory of Machines and Mechanisms - John J. Uicker 2003 This work is a supplement to accompany the authors' main text. Although the PA has many advantages, its main drawback is the hysteresis phenomena, which arises from material polarization and molecule friction [2]. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO). The present invention can suitably be used for, for example, the gripping application, placing application, transportation application in which it is requested to bring the tip end part of the main arm member close to right beside the base end part of the sub arm member.

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